diff --git a/src/lerobot/processor/pipeline.py b/src/lerobot/processor/pipeline.py
index ae9e03099..d2beed3c3 100644
--- a/src/lerobot/processor/pipeline.py
+++ b/src/lerobot/processor/pipeline.py
@@ -329,12 +329,46 @@ class RobotProcessor(ModelHubMixin):
 
         return self.to_output(transition) if called_with_batch else transition
 
-    def step_through(self, transition: EnvTransition) -> Iterable[EnvTransition]:
-        """Yield the intermediate Transition instances after each processor step."""
-        yield transition
-        for processor_step in self.steps:
+    def step_through(self, data: EnvTransition | dict[str, Any]) -> Iterable[EnvTransition | dict[str, Any]]:
+        """Yield the intermediate results after each processor step.
+
+        Like __call__, this method accepts either EnvTransition tuples or batch dictionaries
+        and preserves the input format in the yielded results.
+
+        Args:
+            data: Either an EnvTransition tuple or a batch dictionary to process.
+
+        Yields:
+            The intermediate results after each step, in the same format as the input.
+        """
+        called_with_batch = isinstance(data, dict)
+        transition = self.to_transition(data) if called_with_batch else data
+
+        # Basic validation with helpful error message for tuple input
+        if not isinstance(transition, tuple) or len(transition) != 7:
+            raise ValueError(
+                "EnvTransition must be a 7-tuple of (observation, action, reward, done, "
+                "truncated, info, complementary_data). "
+                f"Got {type(transition).__name__} with length {len(transition) if hasattr(transition, '__len__') else 'unknown'}."
+            )
+
+        # Yield initial state
+        yield self.to_output(transition) if called_with_batch else transition
+
+        for idx, processor_step in enumerate(self.steps):
+            for hook in self.before_step_hooks:
+                updated = hook(idx, transition)
+                if updated is not None:
+                    transition = updated
+
             transition = processor_step(transition)
-            yield transition
+
+            for hook in self.after_step_hooks:
+                updated = hook(idx, transition)
+                if updated is not None:
+                    transition = updated
+
+            yield self.to_output(transition) if called_with_batch else transition
 
     _CFG_NAME = "processor.json"
 
diff --git a/tests/processor/test_pipeline.py b/tests/processor/test_pipeline.py
index 280913e49..b5952b412 100644
--- a/tests/processor/test_pipeline.py
+++ b/tests/processor/test_pipeline.py
@@ -194,7 +194,7 @@ def test_invalid_transition_format():
 
 
 def test_step_through():
-    """Test step_through method."""
+    """Test step_through method with tuple input."""
     step1 = MockStep("step1")
     step2 = MockStep("step2")
     pipeline = RobotProcessor([step1, step2])
@@ -208,6 +208,40 @@ def test_step_through():
     assert "step1_counter" in results[1][6]  # After step1
     assert "step2_counter" in results[2][6]  # After step2
 
+    # Ensure all results are tuples (same format as input)
+    for result in results:
+        assert isinstance(result, tuple)
+        assert len(result) == 7
+
+
+def test_step_through_with_dict():
+    """Test step_through method with dict input."""
+    step1 = MockStep("step1")
+    step2 = MockStep("step2")
+    pipeline = RobotProcessor([step1, step2])
+
+    batch = {
+        "observation.image": None,
+        "action": None,
+        "next.reward": 0.0,
+        "next.done": False,
+        "next.truncated": False,
+        "info": {},
+    }
+
+    results = list(pipeline.step_through(batch))
+
+    assert len(results) == 3  # Original + 2 steps
+
+    # Ensure all results are dicts (same format as input)
+    for result in results:
+        assert isinstance(result, dict)
+
+    # Check that the processing worked - the complementary data from steps
+    # should show up in the info or complementary_data fields when converted back to dict
+    # Note: This depends on how _default_transition_to_batch handles complementary_data
+    # For now, just check that we get dict outputs
+
 
 def test_indexing():
     """Test pipeline indexing."""